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Procedure for determining commanded coordinates in machine space if desired coordinates are
given is inverse calibration. A large amount of data is considered after measurement procedure and it is essential to locate desired point in the real space which is skewed due to measured geometric errors. The machine workspace is divided to cells using mea...
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... point on top left on Figure 3 shows the possibility point not to be in the default skewed cell. ...
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Citations
... Robot accuracy research has long been a focal point not only for scientific institutions, but even more so for companies that make robots and those that use them. Samak et al. [5] described the influence of the calibration of the robot on the accuracy of ATL/AFP process. Hallander et al. [6] evaluated the effect of the layup sequence, ply thickness and ply precompaction on the wrinkle occurrence when forming a quasiisotropic laminate made of unidirectional layers. ...
... The process settings are presented in Table II. B. ILSS Figure 10 shows a typical force-time diagram at ambient temperature for samples No3 (1)(2)(3)(4)(5). ILSS of composite rings were determined for five specimens for each ring according to equation (1). ...
For successful avoiding of the irregularities and errors in the products from composite materials, it is important to manage the whole production process in real time. This applies to detecting certain irregularities (positioning defects, bonding defects), controlling the robot and process parameters. This paper presents results from an experimental study of the influence of embedded defects created during in-situ laser automated fiber tape placement (LAFP), on the mechanical properties of carbon/PEEK composites. Three rings have been examined with different designs [(0/±45˚)n], [(0/±30˚)n] and [(0/±90˚)n], in which gaps and overlaps have been introduced during fiber placement. The microstructures were characterized by optic microscopy. ILSS tests were performed on samples from rings and showed that the presence of a gap/overlap and voids more than 3% affect mechanical behavior of pipes but does not affect degree of crystallinity.
... Comprehensive calibration procedure was developed for numerical compensation of all 21 geometric errors of AFP/ATL machine, which comprise of two algorithms for forward and inverse calibration. After the implementation of this calibration procedure detailed in [12] and [17], the accuracy of the machine is improved by 90%, verifying the correctness of the used algorithms. ...
An algorithm for volumetric calibration is developed and verified practically by measuring of all geometric errors after numerical compensation. In this paper, analysis of the contribution of each of 9 translational and 9 rotational position dependent errors and each of 3 position independent errors in total displacement error vector is presented. Changing only one of the errors, and keeping all the others unchanged, the final total error is examined using the simulation based on forward calibration part of the calibration algorithm. The measurement of all 21 volumetric errors is expensive and time consuming. Instead of numerical compensation in the controller, this analysis yields opportunity to enhance accuracy of the machine, measuring and making correction of only few of the geometric errors. Results from the simulation showed that position independent errors have most significant influence on total displacement error. Decreasing of the squareness error SXY improves the mean of norms of total displacement vectors about 25%, and percentage of improvement for squareness error Szx is about 20%. If all squareness errors are reduced by factor 0.04, then total improvement is more than 51%.
